formatting fixes

narmstro2020 · Mar 31, 2024 · 2361a2f · 2361a2f
1 parent c3d3677
commit 2361a2f
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Showing 2 changed files with 34 additions and 35 deletions.
diff --git a/wpilibc/src/main/native/include/frc/simulation/LinearSystemSim.h b/wpilibc/src/main/native/include/frc/simulation/LinearSystemSim.h
@@ -81,21 +81,6 @@ class LinearSystemSim {
    */
   double GetOutput(int row) const { return m_y(row); }
 
-  /**
-   * Returns the current input of the plant.
-   *
-   * @return The current input of the plant.
-   */
-  const Vectord<Outputs>& GetInput() const { return m_u; }
-
-  /**
-   * Returns an element of the current input of the plant.
-   *
-   * @param row The row to return.
-   * @return An element of the current input of the plant.
-   */
-  double GetInput(int row) const { return m_u(row); }
-
   /**
    * Sets the system inputs (usually voltages).
    *
@@ -114,6 +99,21 @@ class LinearSystemSim {
     ClampInput(m_u);
   }
 
+  /**
+   * Returns the current input of the plant.
+   *
+   * @return The current input of the plant.
+   */
+  const Vectord<Outputs>& GetInput() const { return m_u; }
+
+  /**
+   * Returns an element of the current input of the plant.
+   *
+   * @param row The row to return.
+   * @return An element of the current input of the plant.
+   */
+  double GetInput(int row) const { return m_u(row); }
+
   /**
    * Sets the system state.
    *

diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/LinearSystemSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/LinearSystemSim.java
@@ -106,33 +106,13 @@ public double getOutput(int row) {
     return m_y.get(row, 0);
   }
 
-  /**
-   * Returns the current input of the plant.
-   *
-   * @return The current input of the plant.
-   */
-  public Matrix<Inputs, N1> getInput() {
-    return m_u;
-  }
-
-  /**
-   * Returns an element of the current input of the plant.
-   *
-   * @param row The row to return.
-   * @return An element of the current input of the plant.
-   */
-  public double getInput(int row) {
-    return m_u.get(row, 0);
-  }
-
   /**
    * Sets the system inputs (usually voltages).
    *
    * @param u The system inputs.
    */
   public void setInput(Matrix<Inputs, N1> u) {
     this.m_u = clampInput(u);
-    m_u = clampInput(m_u);
   }
 
   /**
@@ -160,6 +140,25 @@ public void setInput(double... u) {
     m_u = clampInput(m_u);
   }
 
+  /**
+   * Returns the current input of the plant.
+   *
+   * @return The current input of the plant.
+   */
+  public Matrix<Inputs, N1> getInput() {
+    return m_u;
+  }
+
+  /**
+   * Returns an element of the current input of the plant.
+   *
+   * @param row The row to return.
+   * @return An element of the current input of the plant.
+   */
+  public double getInput(int row) {
+    return m_u.get(row, 0);
+  }
+
   /**
    * Sets the system state.
    *